Merge branch 'dev' into feat/lab_resource

unilabos/app/main.py

@@ -1,6 +1,7 @@
 import argparse
 import asyncio
 import os
+import platform
 import shutil
 import signal
 import sys
@@ -358,7 +359,7 @@ def main():
     if BasicConfig.test_mode:
         print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
     BasicConfig.communication_protocol = "websocket"
-    machine_name = os.popen("hostname").read().strip()
+    machine_name = platform.node()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]

unilabos/resources/container.py

@@ -1,10 +1,6 @@
-import json
 from typing import Dict, Any
 
 from pylabrobot.resources import Container
-from unilabos_msgs.msg import Resource
-
-from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
 class RegularContainer(Container):
@@ -16,12 +12,12 @@ class RegularContainer(Container):
             kwargs["size_y"] = 0
         if "size_z" not in kwargs:
             kwargs["size_z"] = 0
+
         self.kwargs = kwargs
-        self.state = {}
         super().__init__(*args, category="container", **kwargs)
 
     def load_state(self, state: Dict[str, Any]):
-        self.state = state
+        super().load_state(state)
 
 
 def get_regular_container(name="container"):
@@ -29,7 +25,6 @@ def get_regular_container(name="container"):
     r.category = "container"
     return r
 
-#
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入
 #     # noinspection PyShadowingBuiltins

unilabos/resources/resource_tracker.py

@@ -16,6 +16,7 @@ if TYPE_CHECKING:
 
 
 EXTRA_CLASS = "unilabos_resource_class"
+FRONTEND_POSE_EXTRA = "unilabos_frontend_pose_extra"
 EXTRA_SAMPLE_UUID = "sample_uuid"
 EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
 
@@ -74,6 +75,14 @@ class ResourceDictPositionObject(BaseModel):
     z: float = Field(description="Z coordinate", default=0.0)
 
 
+class ResourceDictPoseExtraObjectType(BaseModel):
+    z_index: int
+
+
+class ResourceDictPoseExtraObject(BaseModel):
+    z_index: Optional[int] = Field(alias="zIndex", default=None)
+
+
 class ResourceDictPositionType(TypedDict):
     size: ResourceDictPositionSizeType
     scale: ResourceDictPositionScaleType
@@ -100,6 +109,7 @@ class ResourceDictPosition(BaseModel):
     cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
         description="Cross section type", default="rectangle"
     )
+    extra: Optional[ResourceDictPoseExtraObject] = Field(description="Extra data", default=None)
 
 
 class ResourceDictType(TypedDict):
@@ -463,6 +473,7 @@ class ResourceTreeSet(object):
                 "position3d": raw_pos,
                 "rotation": d["rotation"],
                 "cross_section_type": d.get("cross_section_type", "rectangle"),
+                "extra": extra.get(FRONTEND_POSE_EXTRA)
             }
 
             # 先构建当前节点的字典（不包含children）
@@ -548,6 +559,7 @@ class ResourceTreeSet(object):
             name_to_uuid[node.res_content.name] = node.res_content.uuid
             all_states[node.res_content.name] = node.res_content.data
             name_to_extra[node.res_content.name] = node.res_content.extra
+            name_to_extra[node.res_content.name][FRONTEND_POSE_EXTRA] = node.res_content.pose.extra
             name_to_extra[node.res_content.name][EXTRA_CLASS] = node.res_content.klass
             for child in node.children:
                 collect_node_data(child, name_to_uuid, all_states, name_to_extra)

unilabos/test/experiments/prcxi_9320_slim.json

@@ -83,6 +83,7 @@
                             "depth": 0
                         },
                         "content_type": [
+                            "container",
                             "plate",
                             "tip_rack",
                             "plates",